JPH0441788Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to the structure of a sensor for rolling control in a walking rice transplanter.

[Conventional technology]

For example, in Japanese Patent Application Laid-open No. 176510/1983, in order to prevent the machine from tilting to the left or right and becoming unstable due to unevenness or inclination of the tiller when traveling on a soft field for rice planting work, A lever that moves up and down is pivoted on the left and right sides of the walking rice transplanter,
One end of both levers and the left and right swing arms to which the wheels are attached are connected via a rolling hydraulic cylinder, while the piston rod of the lifting hydraulic cylinder is connected to the horizontal shaft connecting the other ends of the levers. The aircraft is configured so that both the left and right wheels move up and down simultaneously, and the left and right wheels move up and down upside down relative to each other, while a pair of float-shaped sensors are installed on both the left and right sides of the aircraft, and the ground pressure applied to both the left and right sensors increases and decreases. When the aircraft moves up and down simultaneously, the wheels on both the left and right sides rise and fall at the same time so that the ground pressure reaches a predetermined value, and when the aircraft sinks to the left, the ground pressure of the left sensor increases and raises the left sensor. etc,
By relating the vertical movement of the left and right sensors to the switching valve of the hydraulic cylinder, the wheels that support the rice transplanter are moved vertically relative to each other, and the horizontal height of the body of the walking rice transplanter relative to the field is adjusted. The disclosure discloses that the control is performed so that it is substantially constant.

[Problem that the invention attempts to solve]

According to this conventional technology, the pair of left and right sensors are arranged so that their front ends are located forward of the front part of the machine body, and the shape of the front part of each sensor that touches the field in plan view is adjusted for each sensor. It is formed into a substantially rectangular shape that is wider on the left and right sides than the width of the rear ground contact part of the sensor.

On the other hand, the cross section of the ridge is often sloped towards the inner circumference of the field at low positions close to the field mud surface. Therefore, when the aircraft turns on a headland in a field, before the front end of the aircraft approaches the ridge in plan view, the front outer edge of the sensor on the outside of the turn that slides on the mud surface comes into contact with the ridge side. ,
This turning operation must be performed at a position quite far from the ridge, which increases the area of the headland, and if a sensor on one side collides with the side of the ridge, the sensor will rise, causing the aircraft on that side to rise significantly. There was a problem in that the tilting made it difficult to perform turning operations.

The present invention aims to solve this conventional problem.

[Means for solving problems]

For this reason, the present invention is a walking rice transplanter that controls the left and right inclination of the machine by installing a pair of left and right sensors on both sides of the front of the machine, and using a rolling hydraulic cylinder associated with the vertical swing of both sensors. In the machine, the front end portions of the pair of left and right sensors are vertically swingably connected to rotational fulcrums provided on the left and right sides of the rear part from the front end of the machine body, and the rear ends of each of the pair of left and right sensors are It is formed at the ground contact part to the field, and both sensors are formed in a V-shape that widens backward in plan view, and in a V-shape that widens downward in front view.

[Functions and effects of the invention]

In this way, in the present invention, the front ends of the pair of left and right sensors installed on both sides of the front of the aircraft are able to swing up and down with respect to the rotational fulcrums provided on the left and right sides of the rear part from the front end of the aircraft. connected, and each rear end of the left and right pair of sensors is formed as a grounding part to the field,
Furthermore, since the left and right sensors are formed in a V-shape that widens backward in plan view, and in a V-shape that widens downward in front view, the front part of the sensor moves toward the front of the aircraft. Furthermore, as you move toward the front of the aircraft, the front parts of both the left and right sensors approach the center position of the aircraft, so there is a gap between the front parts of both sensors and the field scene. Creates a large space.

Therefore, when turning with the front of the aircraft close to the ridge side, even if the front end of the aircraft hangs on the ridge in plan view, the sensor will be located further back than the front end, and the sensor on the outside of the turn will There is less risk of the front lower surface interfering with the ridge side. Coupled with the arrangement of the left and right sensors in a V-shape that spreads out at the rear, it is possible to turn with the front of the aircraft close to the ridge, reducing headlands.

In addition, both the left and right sensors are formed in a V-shape that expands backwards when viewed from the top, and are shaped like a V-shape that expands downwards when viewed from the front.The rear end of each sensor is the ground contact part and the front end is the Coupled with the fact that the connecting part is located upward from the field, the rear-downward inclination angle of the front lower surface of each sensor can be brought closer to the inclination angle of the ridge side, so that in the unlikely event that the lower surface of the sensor is connected to the ridge side. It can be expected that the amount of rise of the sensor will be small even if it comes into contact with the robot, and this has the effect of reducing the tilt of the aircraft and not significantly deteriorating the turning performance.

Furthermore, the front end portions of the left and right pairs of sensors disposed on the left and right sides of the front part of the fuselage are connected so as to be able to swing up and down with respect to rotational fulcrums provided on the left and right sides of the rear part from the front end of the fuselage. The rear end of each of the sensors is formed as a grounding part to the field, and furthermore, the left and right sensors are formed in a V-shape expanding backward in plan view and in a V-shape expanding downward in front view. Therefore, the front ends of both the left and right sensors can be installed near the front of the machine body, closer to the left and right center of the machine. It also has the effect of being small and compact.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. In the drawing, reference numeral 1 shows an engine stand 3 having a downward U-shaped cross section, which is a front frame, attached to the front part of a transmission case 2, and a transmission case 3 attached to the rear part via a frame 4. 5 are connected to each other in a detachable manner, and the fuselage 6 is
A pair of left and right wheels 7, 7 on both the left and right sides of the body 6
This is a walk-behind rice transplanter consisting of a center float 8 disposed longitudinally in the front and back on the lower surface, and the transmission case 5 includes a pair of left and right vertically swinging seedling planting mechanisms 9.
is attached, and each seedling planting mechanism 9 is configured to be able to plant seedlings on both the left and right outer sides of the center float 8.

A pair of left and right operating handles 11, 11 are attached to the rear of the transmission case 5, and a seedling stand 10 is mounted on the upper surface of the pair of operating handles 11, 11 so as to be able to reciprocate left and right.

At the front end of the engine stand 3, which is detachably connected to the side surface of the transmission case 2 via bolts, there is a
A bumper 12 having a U-shape facing rearward in plan view is provided, and an engine 14 is mounted on the engine stand 3 with a hydraulic unit 13 facing forward and adjacent thereto. Further, on the lower surface of the engine stand 3, a lifting hydraulic cylinder 15 for raising and lowering both the left and right wheels 7, 7 at the same time, and a so-called rolling hydraulic cylinder 16 for controlling the left and right tilt of the body 6 are installed.

The front end of the center float 8 has a link 51 protruding therefrom facing a vertically communicating gap between the front end of the engine stand 3 and the bumper 12, and is inserted into the vertical longitudinal hole 52 of the link 51 into the gap. The seedling planting mechanism 9 is connected to the seedling planting mechanism 9 by fitting the provided pin 53 and connecting the seedling planting depth adjustment rod 54 provided between the control handles 11 and 11 so as to be movable up and down. The system is configured so that the depth of planting seedlings in the field can be adjusted.

The two wheels 7, 7 are connected to the transmission case 2.
The drive shaft 19 protrudes from both left and right side surfaces of the engine, and is pivoted at its base end so as to be vertically movable. It is rotationally driven by power from a transmission mechanism inside the mission case 2 that is transmitted by a belt to a pulley on one side of the mission case 2.

The lifting hydraulic cylinder 15 for moving the left and right swing arms 18a, 18b up and down in the same direction to raise and lower both the left and right wheels 7, 7 at the same time is located at a lower surface position of the engine stand 3, and its rear end is connected to the It is attached to the rear plate 23 of the engine stand 3.

Piston rod 24 of the lifting hydraulic cylinder 15
is arranged so as to protrude in the front direction of the rice transplanter 1, and is attached to the piston rod 24 via the attachment piece 25. It is inserted into the front and rear longitudinal guide grooves 28, 28 so as to be freely movable back and forth.

A bracket 30 protruding upward from the left end in the machine body traveling direction of the inner shaft 29 fitted into the tube member 26 so as to be rotatable about its axis, and the arm 31 at the base end of the left swing arm 18a are connected to a connecting rod 32a. At the same time, a bracket 30 protruding downward from a boss 34 fitted onto the right end of the inner shaft 29 and fixed to a pin 33 is connected to the arm 31 at the base end of the right swing arm 18b by a connecting rod 32b. . As a result, the forward protruding movement of the piston rod 24 causes the swing arms 18 to move through the inner shaft 29.
a, 18b simultaneously rotate upward, and both wheels 7,
7 rises all at once, and conversely, due to the backward movement of the piston rod 24, both swing arms 18a, 18b
is configured so that the wheel rotates downward and both wheels 7, 7 descend simultaneously.

The rolling hydraulic cylinder 16 has a piston rod 3 attached to a bracket in the middle of the inner shaft 29.
The rear end of the rolling hydraulic cylinder 16 is pivotally connected to a bracket 37 projecting backward from the pipe member 26, and the rolling sensor mechanism 22 and the hydraulic unit 13 on the engine stand 3 are connected to the rolling sensor mechanism 22, which will be described later. By operating the rolling hydraulic cylinder 16, the inner shaft 29 is rotated around its axis, so that both wheels 7, 7 move up and down in opposite directions. This performs so-called rolling control in which both the left and right sides of the aircraft are in a substantially horizontal state.

Note that reference numeral 38 is a bonnet cover that covers the upper part from the balance link mechanism 62 on the hydraulic unit 13 to the rear transmission case 5, and reference numeral 41 is a bonnet cover that covers the upper side from the balance link mechanism 62 on the hydraulic unit 13 to the rear transmission case 5, and the reference numeral 41 is a bonnet cover that covers the operation handle 11 in priority to the operation of the rolling hydraulic cylinder 16. This is a rolling lock mechanism that stops the upside-down operation of both wheels 7, 7 by preventing rotation of the inner shaft 29 by operating a nearby hand handle 42.

Hydraulic circuit 43 for driving the lifting hydraulic cylinder 15 and the rolling hydraulic cylinder 16
The hydraulic unit 13 constituting the hydraulic pump 4
4. Parts such as an oil tank 45, a distribution valve 46, a rotary type switching valve 47 that switches the hydraulic pressure to the lifting hydraulic cylinder 15, a spool type switching valve 48 that switches the hydraulic pressure to the rolling hydraulic cylinder 16, etc. are integrally attached and collected in one place, and the throttle valve 4 is installed in the hydraulic pressure return circuit to the switching valve 47.
By inserting the piston rod 6a, it is possible to reduce the impact when the piston rod 24 of the lifting hydraulic cylinder 15 protrudes, in other words, when the machine body descends.

Reference numeral 55 indicates a lifting sensor that operates a rotary switching valve 47 that switches the hydraulic pressure for the lifting hydraulic cylinder 15. The rotor 57 at the tip of the movable arm 56 is brought into contact with the upper surface of the center float 8, while the lever 58 attached to the base end of the arm 56 is connected to the shaft of the rotary switching valve 47.

The rolling sensor mechanism 22 for operating the rolling hydraulic cylinder 16 includes a pair of left and right float-like sensors 17a and 17b arranged to slide on the field surface on both the left and right sides of the center float 8, and the hydraulic pressure It consists of a scale-type link mechanism 62 mounted on the unit 13, and pivot arms 70, 70 that support the proximal ends, which are the front ends of the pair of sensors 17a, 17b, and are connected to the scale-type link mechanism 62. .

the pair of left and right float-shaped sensors 17a;
The front end of the sensor 17b is attached to the bumper 12 so as to be movable up and down as will be described later, and the ground contact portion of the rear end of both sensors 17a, 17b corresponds to the front position of the wheels 7, 7 at the left and right positions of the center float 8. , both sensors 17a and 17b are formed in a V-shape in plan view so that they are inclined rearward and downward in side view, and the rear end sides of both sensors 17a and 17b are positioned outside from bumper 12.
A and 17b are formed into a V-shape in which the lower end side (the rear end ground contact side) widens downward when viewed from the front.

The left and right rear portions of the bumper 12 have a so-called loop shape that connects the rear bracket 82 and the outer surface of the vertical plate 27 of the engine stand 3 with a tubular stay 12a, and surrounds the side surfaces of the hydraulic unit 13, engine 14, etc. It is configured to act as a bumper and can sufficiently resist external forces from the outside. Note that this bumper 12 has sensors 17a and 1 in plan view as shown by the dashed line in FIG.
It may be located on the left and right outer sides of 7b.

With this configuration, a large space is created between the lower surfaces of the front end sides of both sensors 17a and 17b and the field field A (see Fig. 1), and when the machine body 6 turns at the edge of a ridge, the sensor located on the outside of the turning Even if the outer edge of the turning outer edge at the front position of the sensor overlaps the ridge in plan view, the ridge will be located in the space between the lower surface of the front end of the sensor and the field surface A, and they will not interfere with each other, so the turning The aircraft can be turned with the outer sensor fairly close to the ridge.

The balance type link mechanism 62 is connected to the hydraulic unit 1.
A horizontal axis 63 extending in the longitudinal direction of the fuselage 6 from approximately the left and right center of the fuselage on the bracket protruding above the
A cylindrical take-up lever 65 extending in both left and right directions of the machine body is fixed to the lower end of the boss 64 which is rotatably fitted into the boss 64 so as to be movable up and down. One end of a link 69, 69 with a turnbuckle 68 is pivotally connected to the arms 67, 67 attached to both the left and right ends of the fitted shaft 66, and the other end of both links 69, 69 is Arm 7
It fits into the mounting hole 71 of 0.0, 70.

Also, a bracket 72 attached to the balance rod 65
The spool shaft 7 in the switching valve 48 is inserted into the engagement hole.
By engaging the horizontal tip of 4, the balance rod 6
The switching valve 48 switches the hydraulic pressure to the rolling hydraulic cylinder 16 in accordance with the vertical movement of the machine body 5 in the left-right direction.

Each bush 75 fixed to the base end of each pivot arm 70 is rotatably fitted into a horizontal pivot portion 76a of a bracket 76 attached to the lower surface of the front end of the bumper 12, while the bushes 75 are rotatably fitted to the horizontal pivot portion 76a of a bracket 76 attached to the lower surface of the front end of the bumper 12.
Each pivot arm 70 is placed on the upper surface of a reinforcing bracket 77 that protrudes laterally from b, and each pivot arm 70 and reinforcing bracket 77 are connected via a biasing spring 78 and a bolt 79, and each sensor 17a,
When an upward external force above a certain level acts on the sensor 17b, each sensor is tilted to release the external force, thereby preventing overload.

Further, a link 80 with a long groove hole 81 is rotatably attached to the upper surface of the ground contact portion at the rear end of each of the sensors 17a, 17b, and a link 80 with a long groove hole 81 projects from the left and right rear brackets 82 of the bumper 12. The sensors 17a, 17b are fitted into the shaft 83 so as to be movable up and down, and the downward rotation angle of each sensor 17a, 17b is restricted, so that the sensors 17a, 17b can be used when traveling on the road or when traveling backwards.
Prevent the bottom edge from sagging.

Further, the vertical length of the long groove hole 81 of each link 80 is such that when the center float 8 is lowered to the maximum lower position (at the shallowest seedling planting depth), the lower end surface of each sensor 17a, 17b is is set to be located below the lower surface of the center float 8. Therefore, during normal seedling planting work, the rear ends of each sensor 17a, 17b become so-called free ends and can freely move up and down. By adjusting the length of each turnbuckle 68, both the left and right sensors 1 can be
By adjusting the hanging height of 7a, 17b, both sensors 17a, 17b can be
The ground pressure of the center float 8 can be adjusted to be lower than the ground pressure of the center float 8 so that the sensor can perform sensing for rolling control.

With this configuration, when the rice transplanter 1 turns or runs on the road, by pulling the hand handle 59 near the control handle 11, the operating rod 60 connected thereto is connected to the rotary switching valve via the telescopic joint 61. By rotating the rotary shaft 47, both wheels 7, 7 can be lowered all at once, giving priority to the operation of the elevating sensor 51, and the body 6 can be raised significantly.

When the piston rod 24 in the lifting hydraulic cylinder 15 is moved back greatly, the pipe member 2
6. Since the swing arms 18a and 18b, which are interlocked via the inner shaft 29 and the connecting rods 32a and 32b, rotate downward, the wheels 7, 7 attached to the ends of the swing arms are simultaneously rotated to the fuselage 6. In contrast, the aircraft descends and the aircraft ascends.

Also, during rice planting work, by rotating the seedling planting depth adjustment rod 54 in advance to adjust the height of the center float 8 relative to the lower surface of the body 6, the seedling planting mechanism 9 can adjust the seedling planting depth in the field field A. If the height is set, the piston rod 24 in the lifting hydraulic cylinder 15 is moved forward, and the wheels 7 are driven while the center float 8 on the lower surface of the lowered machine body 6 is in contact with the field surface. The aircraft moves straight and drives the seedling planting mechanism 9,
The seedlings can be planted one by one from the seedling pine on the seedling stand 10 using the seedling claws, and can be planted along a plurality of rows in the field.

At this time, if the machine body rolls and, for example, the right side of the machine body 6 tilts downward, the sensor 17b on the right side is pushed up by the field surface A.
The spool shaft 74 of the switching valve 48 is pulled up and switched via the link 69 of the balance type link mechanism 62 and the cylindrical balance rod 65, and hydraulic pressure is sent to the rolling hydraulic cylinder 16.
By protruding the piston rod 36 and rotating the inner shaft 29 appropriately, pushing down the right wheel 7 and pushing down the left wheel 7, the right side of the fuselage is raised, and the left and right sides of the fuselage 6 are restored to a substantially horizontal state. So-called rolling control is performed.

In this way, by attaching a pair of left and right sensors to the balance-type link mechanism that protrudes to the left and right of the aircraft, they are connected to the rolling hydraulic cylinder via the balance-type link mechanism and the switching valve to prevent the aircraft from tilting to the left or right. can be automatically controlled.

In this case, a pair of left and right sensors 17a, 17b
The front end side of the sensor is rotatably connected to the bumper 12 via the horizontal pivot portion 76a of the pivot arms 70, 70, and is simply suspended by the balance type link mechanism 62, and the rear end of each sensor is in the state. Because of this, it is possible to extremely sensitively detect the thrust of the sensor from the field surface due to the horizontal tilt of the aircraft, improving the accuracy of rolling control of the aircraft and improving the accuracy of seedling planting.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a side view of the rice transplanter, Fig. 2 is a plan view, Fig. 3 is a front view, and Fig. 4 is a plan view indicated by the - line in Fig. 1. Figure 5 is an enlarged side view of the - line main part of Figure 4, and Figure 6 is an enlarged side view of the main part of Figure 5.
The - line front view of the figure and FIG. 7 are hydraulic circuit diagrams. 1...Rice transplanter, 2...Mission case, 3...
... Engine stand, 4 ... Frame, 5 ... Transmission case, 6 ... Airframe, 7 ... Wheels, 8 ... Center float, 9 ... Seedling planting mechanism, 10 ... Seedling stand, 11
... Control handle, 18a, 18b ... Swing arm, 14 ... Engine, 15 ... Hydraulic cylinder for lifting, 16 ... Hydraulic cylinder for rolling,
24, 36...Piston rod, 17a, 17b
... Float-like sensor, 22 ... Rolling sensor mechanism, 62 ... Balance type link mechanism, 13 ...
...Hydraulic unit, 44...Hydraulic pump, 45...
Oil tank, 47, 48... switching valve, 26... tubular member, 29... inner shaft, 28, 28... guide groove,
30, 30...Bracket, 32a, 32b...
Link, 34...boss, 55...lifting sensor,
65...Cylindrical balance rod, 67,67...Arm, 6
8, 68... Turnbuckle, 69, 69... Link, 74... Spool shaft, 76a... Horizontal pivot portion, 70, 70... Pivoting arm, 80, 80...
Link, 82... Rear bracket, 83... Axis.

Claims (1)

[Scope of utility model registration request] In a walk-behind rice transplanter, a pair of left and right sensors are arranged on both sides of the front part of the machine body, and the left and right inclination of the machine body is controlled via a rolling hydraulic cylinder associated with the up and down movement of both sensors. The front ends of each of the sensors are connected so as to be able to swing up and down to rotational fulcrums provided on the left and right sides of the rear part from the front end of the machine body, and the rear ends of each pair of left and right sensors are connected to the grounding part on the field. 1. A rolling control sensor device for a rice transplanter, characterized in that both sensors are formed in a V-shape expanding backward in plan view and in a V-shape expanding downward in front view.